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[trajoptlib] Upgrade Sleipnir for faster autodiff and less memory usage #2308

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[trajoptlib] Upgrade Sleipnir for faster autodiff and less memory usage

[trajoptlib] Upgrade Sleipnir for faster autodiff and less memory usage #2308

Run time

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Job Run time
asan
1m 40s
tsan
1m 30s
ubsan
1m 22s
4m 32s